Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
This addresses motion planning for dexterous manipulation in robotics, but appears incremental as it builds on sampling-based methods with contact mode guidance.
The paper tackled the problem of motion planning for dexterous manipulation in 3D by introducing the CMGMP algorithm, which generates hybrid motion plans with contact mode switches without pre-specified sequences, and tested it on fourteen tasks with some real robot validation.
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to use automatically enumerated contact modes of environment-object contacts to guide the tree expansions during the search. Contact modes automatically synthesize manipulation primitives, while the sampling-based planning framework sequences those primitives into a coherent plan. We test our algorithm on fourteen 3D manipulation tasks, and validate our models by executing some plans open-loop on a real robot-manipulator system